TWM589336U - Detecting system - Google Patents

Abstract

This creation is about a detection system, which is used to protect a device. The device is set on a working surface and defines a working space. The detection system includes a first steering member, a detection device and a three-dimensional first safety grating. The first steering element roughly surrounds the device and is away from the working surface relative to the device. The detection device includes an electronic control device and a first detector. The first detector includes a transmitter, a receiver, and a controller. Wherein, the controller controls the transmitter and receiver to rotate synchronously on an axis, and sequentially emits N detection waves for each revolution, and performs N time detections correspondingly. The cooperation of the first turning piece and the working surface forms the first safety grating that is covered outside the working space.

Description

Detection system

This creation is about a detection system, especially a detection system used to detect whether there is an object near the running mechanical equipment.

In the industrial environment, many mechanical devices are dangerous during operation. If they are approached accidentally, they may cause serious consequences. For example, when the robot is operating quickly, if an object or person enters the robot's operating range, the robot may Collision with it may cause personal injury or damage to objects and mechanical arms, or damage to objects or casualties.

Existing robotic arms have been designed with safety light curtains (Safety Light Curtains). However, existing safety light curtains have the following disadvantages: (1) Each group is a flat type (one piece), at least four groups are required to form one Ring-shaped cover (for example, a rectangular ring-shaped cover, you need to set a group of four front, back, left, right, etc.); (2) Each group of safety gratings contains a plurality of optical axes, each of which is composed of one The transmitter and a receiver are formed, so if the optical axis needs to be denser to improve the detection accuracy, the more optical axes are required, the higher the cost will be; (3) By the way, the existing safety grating The overall construction cost of the design is still too expensive.

In order to solve the above problems, the author proposes a detection system that can detect whether an object is approaching in a predetermined area around the mechanical equipment. Once an object intrudes into the predetermined area, the creation detection system can immediately sense, Then control the running equipment to reduce the operation speed or suspend operation in time to avoid equipment damage or personal injury. The equipment of the detection system of this creation is relatively simplified, requiring only a set of transmitter and receiver, and can still form a multi-faceted safety grating.

The detection system provided by this creation is used to protect a device. The device is set on a working surface, and a working space is defined on the working surface. The detection system includes a first steering element, a detection device, and a three-dimensional first safety grating. The first turning member roughly surrounds the device and is located away from the working surface relative to the device, and has at least one turning surface that is not parallel to the working surface. The detection device includes an electronic control device and a first detector. The first detector includes a transmitter, a receiver, and a controller. The first safety grating is provided outside the working space corresponding to the cover. Wherein, the controller controls the transmitter and receiver to rotate synchronously on an axis, and sequentially emits N detection waves for each revolution, and performs N time detections correspondingly. The cooperation of the turning surface of the first turning piece and the working surface forms the first safety wave grating.

When no intruders invade the first safety wave barrier, the time value of the i-th detection wave transmitted from the transmitter to return to the receiver is the first type of time value T1i. When an intrusion invades the first safety wave barrier, a time value at which the i-th detection wave is detected is not equal to the first type time value T1i.

The first safety wave grating has a cover area substantially perpendicular to the axis and a surrounding area substantially parallel to the axis.

The cover area is jointly defined by the emitter and the first turning member, and the surrounding area is jointly defined by the first turning member and the working surface.

In an embodiment, the detection system further includes a first support frame, the first support frame includes at least a vertical post, a platform, and at least one extension post, the vertical posts are spaced apart from each other on the working surface, The platform is disposed on the upright post, the extension pillars are disposed on the platform at a distance from each other, and extend outward to connect the first steering member, the transmitter and the receiver of the first detector are disposed on On the platform.

In an embodiment, the number of the extending pillars is four, the first steering member has four bodies and four turning surfaces, each turning surface is formed corresponding to each body, and each body is corresponding to each extension And the body is formed into a rectangle.

In another embodiment, the first turning member has a body and a turning surface, the turning surface is formed on the body, and the body is ring-shaped.

The first type of path PA1i has segment A1i, segment B1i, segment C1i, and segment D1i. The i-th detection wave passes from the transmitter along segment A1i to the first turning member, and from the first turning member along segment B1i to the working Surface, from the working surface along segment C1i to the first diverter, and then from the first diverter along segment D1i to the receiver.

Among them, an intruder invades the first safety wave barrier, and the time value of the i-th detection wave transmitted from the transmitter to the receiver is the second type time value, the third type time value or the fourth type Time value, the second type time value is less than the first type time value, the third type time value is greater than the first type time value, and the detected wave does not return to the fourth type time value when it exceeds a predetermined time interval.

In one embodiment, the detection system further includes a second steering member, which generally surrounds the device and is located away from the working surface relative to the device, and has at least one steering surface that is not parallel to the working surface ; And a three-dimensional second safety grating, formed between the working space and the first safety grating. Wherein, the detection device further includes a second detector, the second detector includes a transmitter, a receiver, and a controller, and the controller of the second detector controls the second detection The transmitter and receiver of the transmitter rotate synchronously on an axis, and sequentially emit N detection waves for each revolution, and perform N time detections correspondingly. The detection waves pass through the second steering member The cooperation of the turning surface and the working surface forms the second safety grating.

When no intruder invades the second safety wave barrier, the time value of the i-th detection wave transmitted from the transmitter of the second detector to the receiver returned to the second detector is the first A type of time value T1i, when an intruder invades the second safety wave barrier, a time value at which the i-th detection wave is detected is not equal to the first type of time value T1i.

Among them, the first type of path PA1i has A1i segment, B1i segment, C1i segment and D1i segment, the i-th detection wave passes from the transmitter of the second detector along the A1i segment to the second diverter, and from the first The second turning piece is along section B1i to the working face, and from the working face along section C1i to The second steering member passes from the second steering member along the D1i section to the receiver of the second detector.

An intruder invades the second safety wave barrier, the i-th detection wave is transmitted from the transmitter of the second detector to the receiver returning to the second detector, and the time value is the second type Time value, third type time value or fourth type time value, the second type time value is less than the first type time value, the third type time value is greater than the first type time value, and the detected wave does not return within a predetermined time interval The fourth time value.

The created detection system can also be applied to a security protection detection method, including the following steps: S1: define a working space for a device placed on a working surface; S2: set up a detection outside the working space Detection system, the detection system includes a detection device, a first steering member and a first support frame; S3: forming a three-dimensional first safety grating around the working space; S4: establishing the i-th detection The basic time of the wave; S5: perform detection and judgment; S6: send out signals when necessary.

1000‧‧‧detection system

2000‧‧‧ Robot arm equipment

3000‧‧‧detection system

4000‧‧‧detection system

5000‧‧‧detection system

1‧‧‧ Detection equipment

11‧‧‧Electronic control device

12‧‧‧ First detector

12’‧‧‧Second detector

121‧‧‧Dock

122‧‧‧rotating module

123‧‧‧ Launcher

124‧‧‧Receiver

1241‧‧‧Lens

125‧‧‧Controller

13‧‧‧Alarm

2‧‧‧The first safety grating

2’‧‧‧Second safety grating

21. 21’‧‧‧ Covered area

22, 22’‧‧‧ Surrounding area

4‧‧‧The first turning piece

4’‧‧‧Second steering part

41‧‧‧Body

42‧‧‧Turning surface

4a‧‧‧orthographic projection

5‧‧‧ First support

5’‧‧‧Second support frame

51‧‧‧Vertical post

52‧‧‧Platform

53,53’‧‧‧Extended pillar

A1, B1, C1, D1, B1’, C1’, C1”, D1”, E1”, F1”, G1”, B1’'', C1’''‧‧‧

C‧‧‧Axis

P‧‧‧Working surface

PA1‧‧‧ First class path

PA2‧‧‧The second type of path

PA3‧‧‧The third category path

PA4‧‧‧The fourth path

R1‧‧‧ First warning range

R2‧‧‧Second warning range

T‧‧‧Top

W‧‧‧Working space

θ1‧‧‧First angle

θ2‧‧‧Second Angle

Fig. 1 is a perspective schematic view of the detection system of the first embodiment of the creation; Fig. 2 is a top schematic view of the detection system of the first embodiment of the creation; Fig. 3 is a side view of the detection system of the first embodiment of the creation Schematic diagram 4 is a schematic diagram of a path of a detection wave when no intrusion enters in the detection system of the first embodiment of the creation; FIG. 5 is a perspective schematic diagram of the first detector of the detection system of the first embodiment of the creation; 6 and 7 are partial schematic perspective views of the first detector of the detection system of the first embodiment; FIG. 8 is another schematic side view of the detection system of the first embodiment of the creation; and FIG. 9 is Another schematic side view of the detection system of the first embodiment of the present creation; FIG. 10 is another schematic side view of the detection system of the first embodiment of the creation; FIG. 11 is a detection system of the second embodiment of the creation FIG. 12 is a schematic top view of the detection system of the second embodiment of the creation; FIG. 13 is a schematic side view of the detection system of the second embodiment of the creation; FIG. 14 is a detection of the third embodiment of the creation Figure 15 is a schematic top view of the detection system of the third embodiment of the creation; Figure 16 is a schematic side view of the detection system of the third embodiment of the creation; Figure 17 is a fourth embodiment of the creation A schematic perspective view of the detection system of FIG. 18; FIG. 18 is a schematic diagram of a display screen of a first warning range of the detection system of the fourth embodiment; FIG. 19 is a detection system of the fourth embodiment of the invention when an intruder enters. A schematic diagram of a display screen at the time; and FIG. 20 is an operation flowchart of the creation detection system.

As shown in FIGS. 1, 2 and 3, the detection system 1000 of the first embodiment of the present invention is used in a robotic arm device 2000, but it is not limited to this, as long as there is a need for security protection Equipment can be applied. The robotic arm device 2000 is placed on a working surface P (in this embodiment, the working surface P is a ground). According to the range that the objects gripped by the arm during the operation of the robotic arm device 2000 may touch, the working surface P A three-dimensional working space W is defined upward (as shown by the dashed range in FIGS. 1, 2, and 3), that is, before the detection system 1000 is set, the working space W of the robot arm device 2000 is first confirmed. The detection system 1000 of this embodiment includes a detection device 1, a three-dimensional first safety grating 2, a first steering member 4, and a first support frame 5.

The first support frame 5 is erected around the working space W to prevent the robot arm device 2000 from colliding with the first support frame 5 during operation. The first support frame 5 includes four upright posts 51, a platform 52, and four extension posts 53 . The upright posts 51 are spaced apart from each other on the working surface P, the platform 52 is set on the upright posts 51, and the extension pillars 53 are spaced apart from each other and contact the periphery of the platform 52 and extend away from the platform 52 . The first detector 12 of the detection device 1 is disposed on the platform 52 and is located in the center of the platform 52 (in other embodiments, the first detector 12 may not be located in the center of the platform 52).

The first turning member 4 includes a body 41 and a turning surface 42. The body 41 is surrounded by a closed shape (circular, but not limited to this), and is disposed on the four extension pillars 53 at a distance from the platform 52, which corresponds to Around the first detector 12, a turning surface 42 is formed on the side of the body 41 adjacent to the first detector 12. In this embodiment, a normal of the turning surface 42 is not parallel to the normal of the working surface P, that is, the phase A first angle θ1 is sandwiched. In addition, the turning surface 42 may be entirely composed of an optical reflective material, or the surface may be covered with an optical reflective material layer As for the plastic parts, the optical reflective material may be aluminum alloy or silver alloy, but it is not limited to this.

Referring to FIG. 1, the detection device 1 includes an electronic control device 11, a first detector 12 and an alarm 13 connected to each other by signals.

The electronic control device 11 allows the user to issue commands to operate the first detector 12, and can convert and judge the data returned by the first detector 12, and send an alarm signal to the alarm 13 when necessary. Alarm. In addition, the electronic control device 11 can also be connected to the robot arm device 2000 to send an alarm signal to the robot arm device 2000, and the robot arm device 2000 performs corresponding actions such as suspending operation. In fact, the electronic control device 11 may be a computer or a programmable logic controller (Programmable Logic Controller, PLC for short) or an embedded system (Embedded System).

1, FIG. 5, FIG. 6 and FIG. 7, the first detector 12 is fixed on the platform 52 of the first support frame 5, and has a base 121, a rotating module 122, a transmitter 123, a The receiver 124 and a controller 125. The controller 125 is, for example, a microcontroller (Micro Control Unit, MCU), which is connected to the signal of the electronic control device 11 and can control the rotation of the rotating module 122 and the speed of rotation, and the opening, closing, and transmission frequency of the transmitter 123 , And the receiving frequency of the receiver 124, and can return the receiving result of the receiver 124 to the electronic control device 11; both the transmitter 123 and the receiver 124 rotate synchronously about an axis C, and the transmitter 123 is turned on At this time, a plurality of detection waves (that is, directional waves) are generally transmitted along the radial direction of the axis C (that is, the roughly parallel working surface P), and the receiver 124 receives corresponding to the number of opening and closing of the transmitter 123, And has a lens 1241 and A sensor (not shown), the lens 1241 may be a wide-angle lens (expanding the receiving angle) or a filter lens (filtering out part of the interference wave), and the sensor is used to sense the returned detection wave.

In this embodiment, the first detector 12 is a ranging radar, which is generally installed on a robot such as a sweeping robot, thereby scanning the position and distance of obstacles in a horizontal environment close to the ground, so that the sweeping robot can evade, But in principle, it scans in a way that is roughly parallel to the ground. Among them, the rotation speed of the rotating module 122 can be selected from the range of about 85 to 428 RPM, the transmitter 123 emits laser light with a wavelength of about 775 to 795 nm, and the power is about 2 to 5 mW, and the transmitter 123 can be turned on and off repeatedly every time. The number of selections is about 300 to 1300 times, that is, 300 to 1300 detection waves are emitted per circle, and the maximum effective range is 6 meters (12 meters round-trip). However, it is not limited to this, and the time per revolution and the number of detection waves emitted by the transmitter can also be changed according to requirements. For example, one rotation per rotation takes 1 second, and 50 detection waves are emitted per revolution. Directivity infrared or sound waves can also replace laser light.

Next, please refer to FIG. 3 and FIG. 4, the detection wave emitted by the transmitter 123 is roughly centered on the axis C and along the radial direction of the axis C (that is, generally parallel) The working surface P) advances, and then turns (eg, reflects) after encountering the turning surface 42 of the first turning member 4 and becomes roughly forward along the axis C (that is, the rough vertical working surface P), and then reaches the working surface P, although the transmitter 123 The number of receivers 124 is only one, and the transmitter 123 does not transmit multiple detection waves at the same time (only one detection wave is transmitted at the same time), but because the rotation speed of the rotation module 122 is high, and the transmitter 123 Repeated opening and closing time is very short, so it is equivalent to the robot arm equipment 2000 Multiple beams are set to produce a similar effect to the conventional safety grating with multiple beams (optical axis), and a three-dimensional first safety grating 2 is established. When an intruder invades (the speed of the intruder is relatively low) ) To be detected. Further, the first safety grating 2 is formed around the working space W, radiated outwards with the axis C (emitter 123) as the center, and has a cover area 21 and a surrounding area 22, in the absence of intrusion At this time, the detection wave in the cover area 21 is roughly along the radial direction of the axis C (that is, the rough parallel working surface P), and the detection wave surrounding the area 22 is roughly along the axis C (that is, the rough vertical working surface P) Further, in this embodiment, the cover area 21 is defined by the transmitter 123 and the first turning member 4 to define a circular plane parallel to the working surface P. In addition, the first turning member 4 is defined in the The working surface P has an orthographic projection 4a (please refer to FIG. 1), and the surrounding area 22 is the surrounding surface connecting the first turning member 4 and its orthographic projection 4a. In this embodiment, a cylindrical torus is formed (surrounding the working space) W of a ring), but not limited to this. In other words, through the above settings, the first safety grating 2 can be established, and the first detector 12 continues to perform protection detection (protection scanning) within the range of the first safety grating 2.

Next, the transmitter 123 and the receiver 124 will be described in detail to explain how to generate a similar function to a conventional safety grating with multiple beams (optical axes). Whenever the rotating module 122 drives the transmitter 123 and the receiver 124 to rotate one revolution (360 degrees), the controller 125 controls the transmitter 123 to repeatedly turn on and off N cycles at equal intervals (one turn plus one turn off is called a cycle ), the same action is repeated every revolution, where, if it takes S seconds to rotate one revolution, each cycle is S/N seconds, that is, S/2N seconds is turned on, and then S/2N seconds is turned off, and it repeats alternately continuously. For example, if the rotation module 122 takes 0.2 seconds to make one revolution, and the transmitter 13 repeatedly turns on and off 360 cycles during one revolution, that is, The transmitter 13 is turned on for 1/3600 seconds and then turned off for 1/3600 seconds, and the cycle continues 360 times (each cycle is 1/1800 seconds), which can distinguish 360 detection waves, which is the first detection wave, The second detection wave, the third detection wave, ... the i-th detection wave, ... and the N-th detection wave, these N detection waves are based on the axis C (transmitted The device 123) radiates outward from the center.

In addition to using the above-mentioned methods to isolate N detected waves, you can also use coded waves to separate them. For example, changing coded waves every 1/3600 seconds can also achieve a similar effect.

In addition, the receiver 124 rotates with the transmitter 123, and performs 360 detections per revolution, and performs time measurement for each detection wave. In other words, the first detection wave obtains the first time Value, the second detected wave gets the second time value, ... the ith detected wave gets the ith time value... and the Nth detected wave gets the Nth time value, In principle, the i-th time value refers to the round-trip time after the i-th detection wave is transmitted by the transmitter 123 and then returns to the receiver 124, but sometimes there are exceptions, which will be described later.

Since the first safety grating 2 has the above-mentioned N detection waves repeated every circle, when an intruder invades, the travel path of some detection waves will change, so the round-trip time of the detection waves will change, so the As a basis for determining whether an intruder. Please refer to FIG. 3, FIG. 8, FIG. 9 and FIG. 10 to illustrate the possible travel path that the detection wave is transmitted by the transmitter 123, thus causing different round trip times. In principle, it can be roughly divided into four categories, namely the first type of time value, the second type of time value, the third type of time value and the fourth type of time value. Among them, the first type of time value is the result obtained under a safe condition (as shown in Figure 3), that is, no intruder enters a first warning range R1, which can also be called the basic condition, which will be detailed later Explanation; while the second type of time value (as shown in Figure 8), the third type of time value (as shown in Figure 9) and the fourth type of time value (as shown in Figure 10) are all invaded The result under the condition, that is, an intruder enters the first warning range R1, is described in detail below.

Please refer to FIG. 3 and FIG. 4 again, the detected waves of the first type of time value are round trips along the first type of path PA1, and in this embodiment are divided into A1 segment (outbound horizontal segment) and B1 segment (outbound vertical) Segment), C1 (return vertical segment) and D1 (return horizontal segment), the detected wave will be emitted by the transmitter 123 along the A1 segment to the steering surface 42 of the first steering member 4 (incident angle is the second angle θ2 ), after the reflection is turned (the reflection angle is also the second angle θ2) along section B1 to the working surface P, then reflected along the section C1 to the turning surface 42 of the first turning member 4, and then turned along the path D1 to the receiver 124, and It is defined that the detection wave round trip has a first type of time T11 and a total length of the first type of path L11 under safe conditions.

It should be noted that in other embodiments, the first detector 12 is not necessarily located in the center of the platform 52, or the first turning member 4 may also be non-circular, so the detection waves at different angles go back and forth in different directions, The path will be different, that is, when there is no intrusion, A1, B1, C1 and D1 may not be equal to A2, B2, C2 and D2, or may not be equal to A3, B3, Segments C3 and D3; since the detected waves of the same lap may have different round trip times from each other, when comparing, for example, the eighth detected wave of the first lap is compared to the second wave of the second lap Eight detection waves, that is to say, the i-th detection wave of each circle is compared with each other, rather than the i-th detection wave and the i+1-th detection wave.

For comparison, when the i-th detected wave travels along the first-class path PA1i, for example, A1i, B1i, C1i, and D1i, the first-type time is T1i, and the total length of the first-type path is L1i. Because this is the first policeman when no intrusion enters For the condition of the range R1, the first type of time T1i may also be referred to as the basic time TOi, and the total length of the first type path L1i may also be referred to as the total length of the basic path LOi, which will be described in detail later.

In detail, the detection wave emitted by the transmitter 123 is a light beam, which is explained in terms of particles. The light beam contains multiple particles. The light beam will diverge slightly during the process of traveling and reflecting, and the receiver 124 only needs to receive The first returned wave (particle) is the completion time determination. In order to establish basic information and avoid the influence of errors, the i-th detected wave has a basic time TOi (the first type of time T1i), which is pre-rotated through multiple revolutions (for example (3~5 circles) The average value is then used as the basic standard value, but not limited to this.

Next, the second type of time value will be described. The second type of time value refers to a situation that is smaller than the first type of time value, that is, after the intruder enters the first warning range R1, the detection wave changes to a shorter first time value. Type 2 path PA2, so the round trip time is shorter. Taking FIG. 8 as an example, when the detection wave passes through the A1 segment of the first type path PA1 and encounters an intruder after passing through the B1′ segment (the entire B1 is not taken), the detection wave directly reflects back to the first along the C1′ segment The turning surface 42 of the turning piece 4 then turns along the original D1 section to the receiver 124. Obviously this is a relatively short path, so the round-trip time is short. In addition, the intruder may also invade in the original A1 section , The detected wave is directly reflected back to the receiver 124, as long as the round-trip time is short, it is called the second type of time value; in other words, when the i-th detected wave is a round-trip along the second type path PA2i, its second type The time is T2i, the total length of the second type of path is L2i, and T2i<T1i(TOi), L2i<L1i(LOi).

The third type of time value refers to a situation that is larger than the first type of time value, that is, after the intruder enters the first warning range R1, the detection wave changes to a longer third type path PA3, so the round-trip time is long. Taking Figure 9 as an example, when the detected wave has gone through the first type of path The A1 section of PA1, after passing the B1" section, encounters intruders, and then returns to the receiver 124 along the C1" section, D1" section, E1" section, F1" section, and G1" section, obviously this is A longer path, so the round-trip time is longer, regardless of the number of segments, as long as the round-trip time is longer, it is called the third type of time value; in other words, when the i-th detection wave is along the third type of path PA3i For round trips, the third type of time is T3i, the total length of the third type of path is L3i, and T3i>T1i(TOi), L3i>L1i(LOi).

The fourth type of time value is a more special situation. When the intruder enters the first warning range R1, the fourth type of path PA4 that changes the detection wave to take is too long or even unable to return to the receiver 124 when it exceeds a predetermined When the receiver 124 receives or does not receive the detection wave, it will be judged as the fourth type of time value, and this predetermined time interval is usually the time interval of each detection wave transmission (such as the first The time difference between one detection wave emission and the second detection wave emission), of course, you can also directly set a value, such as 0.5 milliseconds. Taking FIG. 10 as an example, when the detected wave passes through the A1 segment of the first type of path PA1, it encounters an intruder after passing through the B1″ segment, and then goes back along the C1′″ segment, and the receiver 124 continues to transmit If the next detected wavefront cannot detect the returned detected wave, the controller 125 will determine this as the fourth type of time; in other words, when the i-th detected wave travels back and forth along the fourth type path PA4i, its The fourth type of time is T4i, and T4i>T1i(TOi).

Based on the above, when any detected wave is detected as the first type of time value, it can be regarded as a safe condition (or basic condition) without intrusion; when any detected wave is detected It is not the first type of time value (that is, the second type of time value, the third type of time value and the fourth type of time value), no matter the time is shorter or longer, as long as they are not equal, it can be determined that there is an intrusion.

However, a slight error may occur during each detection, so the above comparison is usually based on a 20% difference, that is, the time of the i-th detection wave being measured is greater than 1.2T1i, or less than 0.8T1i, It is considered to be an intrusion. But it is not limited to this, for example, 2% to 50% is acceptable, depending on the demand.

Next, further explain how to determine the entry position of the intruder. Please refer to Figure 2. Since each rotation is 360 detection waves, if the top of Figure 2 (12 o'clock direction) is used as the starting point of each circle, then the first to the 90th of each circle The detection waves represent the first quadrant, the 91st to 180th detection waves represent the second quadrant, the 181st to 270th detection waves represent the third quadrant, and the 271st to 360th detections Wave is the fourth quadrant. If it is detected that, for example, the 96th to 131st detection waves are not the first type of time T1i (basic time TOi), it is known that the intruder entered from the second quadrant.

Further, when the i-th detection wave is detected to be not the first type of time value T1i, it is considered to be invaded by an intruder, but in order to avoid misjudgment, it will accumulate to exceed a threshold, the controller 125 will notify The alarm 13 issues an alarm. The so-called threshold value here refers to, for example, five consecutive detection waves are detected that are not the first type of time value T1i, for example, the 18th to 22nd detection waves (i.e., i to i+4) ), in the same way, the threshold value can also be determined according to the situation, for example, 3 to 50 consecutively; in addition, in order to avoid special abnormalities, it can also be set to be discontinuous, such as 20% of the N detected waves The detected wave is detected to be not the first type of time value T1i, and an alarm is issued. In addition to issuing an alarm, the electronic control device 11 can also send a signal to the robot arm device 2000 at the same time, the robot arm device 2000 will be suspended, or may be carried out through a safety relay.

The upright post 51 and the extension post 53 of the first support frame 5 can be designed to be telescopically adjusted, so that the robot arm device 2000 (different working range W) of different sizes can be adjusted accordingly (adjustment of height and width) In addition, the extension post 53 can further have a column and an adjustable fixing plate (not shown), the body 41 is disposed on the adjustable fixing plate, and can adjust the angle relative to the column.

In addition, although the three-dimensional first safety grating 2 does not have a real beam (optical axis) spacing like the conventional safety grating, it still rotates a circle and emits N detection waves in a short time, so it is still There is an equivalent beam spacing, which is radially expanded outward by the transmitter 123 and is positively related to the distance between the transmitter 123 and the first turning member 4.

Referring to FIGS. 11, 12 and 13, the detection system 3000 of the second embodiment of the present invention is different from the first embodiment in that the first support frame 5 is omitted and a top directly above the working surface P is provided. On the surface T (such as a ceiling), the first turning member 4 is also ring-shaped to surround an area, and the first detector 12 is located in the area, and the robotic arm device 2000 is placed on the working surface P and located on the Below a detector 12. As for the detailed structure of the detection device 1, the shape, the tilting method and the operating method of the first steering member 4, they are the same as those of the first embodiment, and will not be described in detail.

Referring to FIGS. 14, 15 and 16, the detection system 4000 of the third embodiment of the present invention and the second embodiment of the present invention are both set on a top surface T (such as a ceiling), but this embodiment is different from the previous embodiment It is noted that the detection system 4000 of this embodiment further includes a second detector 12', a three-dimensional second safety grating 2', a second steering member 4'and a second support frame 5', the second The detector 12' is stacked on the first detector 12, so it is relatively more prominent than the top In the plane T, the second steering member 4'is also a ring, but has a smaller diameter than the first steering member 4, and the second support frame 5'has only four extension pillars 53', and each extension pillar 53' is connected to the first Between the second turning piece 4'and the top surface T, that is to say the first turning piece 4 surrounds the second turning piece 4', but the second turning piece 4'is still outside the working space W, and the relative position is lower, not It will be blocked between the first steering member 4 and the emitter 123 of the first detector 12. According to the aforementioned operation mode, a second safety grating 2'can be established between the working space W and the first safety grating 2 using the second detector 12' and the second steering member 4'.

The advantage of setting up two wave barriers is that they can respond to different degrees. For example, when an intruder invades the first safety wave barrier 2, the robot arm device 2000 can reduce the speed by 50%, and when an intruder intrudes the second safety wave barrier 2' Only the robot arm equipment 2000 was suspended.

In other embodiments, the robot arm device 2000 does not need to be installed on the work surface P, but can be installed on a work table, or the robot arm device 2000 can be installed upside down on the top surface T, as long as the first steering member and The configuration of the first support frame only needs to keep the first safety grating around the working space W.

Next, please refer to FIG. 17, which shows the detection system 5000 of the fourth embodiment of the creation, the difference from the second embodiment is that the body 41 of the first steering member 4 is changed into a square frame, so the first safety grating 2 corresponds to a rectangular parallelepiped, that is to say has a square cover area 21 and a rectangular surrounding area 22 (composed of four rectangular areas).

In addition, this embodiment is used to explain another way to judge the alarm, which is to convert the basic time of each detected wave in a circle (no intruders invade), As shown in the area diagram of FIG. 18, since the three-dimensional first safety grating 2 is to be presented in a two-dimensional plane, it will become a square area (corresponding to the cover area 21) and four rectangular areas (corresponding to the surrounding area 22) The formed cross-shaped area map can be used to perform detection and calculation judgment. Figure 19 represents the round trip of several detection waves entering the azimuth when an intruder (such as a person) enters (ie, the shadow below) The time becomes shorter (the second type of time value T2i), so the converted area changes (becomes smaller).

With the above graph, you can further use the change in area to set the threshold for alarm activation. Similarly, you can set the area difference of 2% to 50% as a benchmark. It should be added that since such area conversion and comparison is a relatively complicated task, it is usually not performed by the first detector 12, but the first detector 12 transmits the data to the electronic control device 11 to perform, In addition, real-time monitoring can be performed on a display (not shown) of the electronic control device 11.

Next, the operation flow of the creation detection system is explained, as shown in FIG. 20. The operation flow includes steps S1 to S6. Steps S1 to S4 are the preparations before the creative detection system 1000 is officially put into operation. Steps S1 and S2 are the preliminary installation of the components of the detection system 1000. Steps S3 and S4 are about detection. The test equipment 1 starts to operate, and a basic sample is established as a standard for determining the presence or absence of intruders. Step S5 is to detect the operating state of the system 1000, and trigger step S6 when an intruder enters.

Step S1: Define a working space for a device placed on a working surface. According to the preset operation flow of the device 2000, considering the range of activities during the operation and the accessible area during operation, the maximum range that the device 2000 may be exposed to during the operation is the working space W.

Step S2: Erect a detection system outside the working space. The detection system includes a detection device, a first steering member, and a first support frame. Among them, the detection device 1, the first steering member 4 and the first support frame 5 are respectively disposed outside the working space W, and the above components constitute a detection system 1000 that can provide safety protection. Among them, the first support frame 5 is mainly used for the first steering member 4 and the detection device 1 to set, depending on the configuration of the device 2000 and the detection system 1000, sometimes the first support frame 5 may be omitted.

Step S3: forming a three-dimensional first safety grating around the working space. Among them, a plurality of detection wave beams continuously emitted by the detection device 1 are turned by the first steering member 4, forming a first safety grating 2 surrounding the working space W outside the working space W, for detecting the presence or absence of intrusion Enter the first warning range R1.

Step S4: Establish the base time of the i-th detected wave. Among them, first of all, in a safe situation (that is, no intruder enters the first warning range R1), the detection device 1 is used to establish the base time for each of the N detection waves emitted by each rotation, so that there can be a comparison later Basis. In other words, in principle, each detected wave travels back and forth along the first type of path PA1. Therefore, the first detected wave has the first type of time T11 (corresponding to the total length of the first type of path L11), the second detection The wave has the first type of time T12 (corresponding to the total length of the first type of path L12)... the i-th detected wave has the first type of time T1i (corresponding to the total length of the first type of path L1i)... the Nth detected wave has The first type of time T1N (corresponding to the total length of the first type of path L1N). In other words, the first type of time T1i that the i-th detected wave has is the basic time TOi. In order to avoid the influence of errors, the basic time TOi (the first type of time T1i) of the i-th detected wave is usually obtained by rotating multiple revolutions (for example, 3 to 5 revolutions, unlimited) Average, but not limited to this. After the basic time of each wave is established, it is stored in, for example, the controller 125.

Step S5: Perform detection and judgment. Among them, because each detection wave has a basic time for comparison, the detection can be performed, that is, the transmitter 123 and the receiver 124 continue to rotate synchronously, and each detection wave transmits N detection waves and corresponds to N at the same time. For the second time detection, the measured time of the i-th detection wave of any circle is compared with the basic time TOi of the i-th detection wave, if the determination is not the first type of time value T1i, and the cumulative determination exceeds a threshold , Then proceed to the next step.

Step S6: Send a signal to the outside when necessary. Wherein, when the cumulative determination in step S5 above exceeds the threshold, the detection device 1 will notify the alarm 13 to issue an alarm, and at the same time send a signal to the device 2000, the device 2000 suspends operation, or may be performed through a safety relay.

In summary, through the creation detection system, it is possible to detect whether some parts of the automatic mechanical equipment enter the warning range during operation. If so, the automatic mechanical equipment is controlled to slow down or suspend operation to increase the automatic mechanical equipment Environmental safety during operation.

The above-mentioned embodiments are only used to exemplify the implementation of the creation and explain the technical features of the creation, but not to limit the protection scope of the creation. Any changes or equivalence arrangements that can be easily completed by those familiar with this technology belong to the scope claimed by this creation, and the scope of protection of the rights of this creation shall be subject to the scope of patent application.

1000‧‧‧detection system

2000‧‧‧ Robot arm equipment

1‧‧‧ Detection equipment

11‧‧‧Electronic control device

12‧‧‧ First detector

13‧‧‧Alarm

2‧‧‧The first safety grating

21‧‧‧ Covered area

22‧‧‧ Surrounding area

4‧‧‧The first turning piece

41‧‧‧Body

42‧‧‧Turning surface

4a‧‧‧orthographic projection

5‧‧‧ First support

51‧‧‧Vertical post

52‧‧‧Platform

53‧‧‧Extended pillar

P‧‧‧Working surface

W‧‧‧Working space

Claims (13)

A detection system is used to protect a device. The device is set on a working surface and defines a working space on the working surface. The detection system includes: a first turning member, which roughly surrounds the device It is located away from the working surface relative to the equipment, and has at least one turning surface, the turning surface and the working surface are not parallel; a detection device includes an electronic control device and a first detector, the first detection The detector includes a transmitter, a receiver, and a controller, wherein the controller controls the transmitter and the receiver to rotate synchronously on an axis, and the transmitter turns toward the turn sequentially for each revolution of the transmitter N detection waves are emitted on the surface, and the receiver performs N time detections correspondingly; and a first safety wave grating corresponding to the three-dimensional cover is placed outside the working space, wherein the first safety wave grating is formed by the The detection wave is formed by reflection of the turning surface of the first turning member and the working surface. For example, in the detection system of the first patent application, when no intruder invades the first safety wave barrier, the time value of the i-th detection wave transmitted from the transmitter to return to the receiver is the first A type of time value T1i, when an intruder invades the first safety wave barrier, a time value at which the i-th detection wave is detected is not equal to the first type time value T1i. A detection system as claimed in item 2 of the patent application, wherein the first safety grating has a cover area substantially perpendicular to the axis and a surrounding area substantially parallel to the axis. For example, in the detection system of claim 3, the cover area is jointly defined by the emitter and the first turning member, and the surrounding area is jointly defined by the first turning member and the working surface. The detection system as claimed in item 4 of the patent application further includes a first support frame including at least a straight post, a platform, and at least one extension post, the upright posts being spaced apart from each other on the working surface The platform is installed on the upright post, the extension pillars are spaced apart from the platform, and extend outward to connect the first steering member, the transmitter and the receiver of the first detector Set on the platform. For example, in the detection system of claim 5, the number of the extension pillars is four, the first steering member has four bodies and four steering surfaces, and each steering surface is correspondingly formed on each body, Each body is respectively provided on each extension pillar, and the body is surrounded into a rectangle. A detection system according to item 5 of the patent application, wherein the first steering member has a body and a steering surface, the steering surface is formed on the body, and the body is ring-shaped. The detection system according to any one of the items 3 to 7 of the patent application scope, wherein the i-th detection wave has a segment A1i, a segment B1i, a segment C1i, and a segment D1i along the first type path PA1i, and the i-th The detection wave travels from the transmitter along the A1i section to the first turning piece, from the first turning piece along the B1i section to the working surface, from the working face along the C1i section to the first turning piece, and then from The first diverting member follows the D1i segment to the receiver. For example, the detection system of claim 8 of the patent scope, wherein, when an intruder invades the first safety grating, the i-th detection wave is transmitted from the transmitter to return to the The time value of the receiver is a second type time value or a third type time value or a fourth type time value, the second type time value is less than the first type time value, and the third type time value is greater than the first type Time value. The i-th detected wave exceeds a predetermined time interval before returning or not returning to the fourth time value. The detection system according to any one of the items 1 to 7 of the patent application scope further includes: a second steering member, generally surrounding the device and located away from the working surface relative to the device, having at least one steering surface, said The turning surface is not parallel to the working surface; and a second safety grating is formed between the working space and the first safety grating; wherein, the detection device further includes a second detector, the second The detector includes a transmitter, a receiver, and a controller. The controller of the second detector controls the transmitter and receiver of the second detector to rotate synchronously on an axis, and each rotation A circle sequentially emits N detection waves and performs N time detections correspondingly. The detection waves form the second safety wave by the cooperation of the steering surface of the second steering member and the working surface Fence. For example, in the detection system of patent application item 10, when no intruders invade the second safety wave barrier, the i-th detection wave is transmitted by the transmitter of the second detector to return to the The time value of the receiver of the two detectors is the first type time value T1i. When an intruder invades the second safety wave barrier, the time value of the i-th detection wave detected is not equal to The first type of time value T1i. For example, in the detection system of claim 11, the i-th detection wave has the A1i segment, B1i segment, C1i segment and D1i segment along the first type of path PA1i. The i-th detection wave is determined by the The transmitters of the two detectors follow the A1i section to the second steering member, From the second steering member along the segment B1i to the working surface, from the working surface along the segment C1i to the second steering member, and then from the second steering member along the D1i segment to the second detector receiver. For example, the detection system of claim 12 of the patent application, wherein, when an intruder invades the second safety wave barrier, the i-th detection wave is transmitted by the transmitter of the second detector to return to the first The time value of the receiver of the second detector is a second type time value, a third type time value or a fourth type time value, the second type time value is less than the first type time value, the third type time If the value is greater than the first type of time value, the i-th detected wave exceeds a predetermined time interval before returning or does not return to the fourth type of time value.

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